CN112466000A - Inspection system based on power inspection robot and inspection control method - Google Patents
Inspection system based on power inspection robot and inspection control method Download PDFInfo
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- G—PHYSICS
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- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
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- G07C1/20—Checking timed patrols, e.g. of watchman
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
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- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02B—BOARDS, SUBSTATIONS OR SWITCHING ARRANGEMENTS FOR THE SUPPLY OR DISTRIBUTION OF ELECTRIC POWER
- H02B3/00—Apparatus specially adapted for the manufacture, assembly, or maintenance of boards or switchgear
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
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Abstract
A patrol system and a patrol control method based on a power patrol robot comprise: when the power inspection robot inspects the power equipment, acquiring state information of the target power equipment when the power inspection robot reaches the location of the target power equipment, wherein the state information comprises a temperature signal, a sound frequency signal and a visible light image; judging whether the target power equipment is abnormal or not according to the temperature signal, the sound frequency signal and the visible light image; if yes, acquiring monitoring information of the power equipment on-line monitoring system, and determining that the target power equipment is in fault when the monitoring information shows that the target power equipment is in fault. The method carries out comprehensive decision on the equipment state through various perception information and judges the equipment state by combining the monitoring result of the online monitoring system, thereby greatly reducing the phenomena of misjudgment and missed judgment on the equipment state.
Description
Technical Field
The invention relates to the technical field of power inspection, in particular to a power inspection robot, an inspection system and an inspection control method.
Background
With the development of social science and technology, electricity has become the foundation of human production and life. The transformer substation is used as a hub of power transmission, and safe and reliable operation of the transformer substation is closely related to national economy. Regular inspection of equipment of the transformer substation and special inspection of the transformer substation when the weather condition changes are necessary work during normal operation of the transformer substation. The Chinese territory is wide, the geographical conditions of a plurality of transformer substations are quite severe, such as high altitude, extremely hot, extremely cold, strong wind, sand and dust, and the like, and the long-time equipment inspection work outdoors is difficult only by manpower. Especially, when a power equipment of a transformer substation is in fault or the field environment is abnormal, such as unpredictable secondary explosion, high-temperature and toxic and harmful gas generated by fire, leaked highly toxic SF6 gas, hidden high-temperature points and live points caused by insulation breakdown of equipment and the like, life risks are brought to operation and inspection personnel working on the field.
The rapid development of artificial intelligence and the gradual change of production modes of the manufacturing industry are also taking place. In recent years, the environment perception technology is very colorful in the field of automatic driving, and the perception technology based on machine vision can acquire two-dimensional or three-dimensional image information of the surrounding environment of a vehicle, so that the driving environment can be perceived. The intelligent mobile robot has the advantages that the theoretical basis is laid for the intelligent operation of the robot through the technologies of intelligent reasoning, learning, analysis, planning, communication and control, full-autonomous programming, man-machine cooperation and the like, the practical direction is pointed out to be generated as the intelligent mobile robot for replacing manpower to conduct inspection in the environment of the transformer substation, accordingly, the inspection efficiency is improved, and the inspection reliability and the automation level are improved.
The purpose of the inspection of the power robot is to monitor and evaluate equipment in a transformer substation, and various methods are available for finding the state and fault conditions of the equipment, such as temperature change, equipment appearance color change, odor change and the like, so that the operation condition of the equipment can be preliminarily judged. The existing inspection robot adopts single fault judgment standard, and is easy to generate misjudgment or missing judgment.
Disclosure of Invention
Objects of the invention
The invention aims to provide a power inspection robot-based inspection system and an inspection control method, which can be used for comprehensively deciding the state of equipment through various sensing information and judging the state of the equipment by combining the monitoring result of an online monitoring system, thereby greatly reducing the phenomena of misjudgment and misjudgment of the state of the equipment.
(II) technical scheme
In order to solve the above problem, the present application provides an inspection control method based on a power inspection robot, including:
when the power inspection robot inspects the power equipment, acquiring state information of the target power equipment when the power inspection robot reaches the location of the target power equipment, wherein the state information comprises a temperature signal, a sound frequency signal and a visible light image;
judging whether the target power equipment is abnormal or not according to the temperature signal, the sound frequency signal and the visible light image;
if yes, acquiring monitoring information of the power equipment on-line monitoring system, and when the monitoring information shows that the target power equipment fails, determining that the target power equipment fails.
Specifically, the determining whether the target electrical device is abnormal according to the temperature signal, the acoustic frequency signal, and the visible light image includes:
judging whether the target power equipment is abnormal or not according to the temperature signal to obtain a first judgment result;
judging whether the target power equipment is abnormal or not according to the sound frequency signal to obtain a second judgment result;
judging whether the target power equipment is abnormal or not according to the visible light image to obtain a third judgment result;
and if one of the first judgment result, the second judgment result and the third judgment result is that the target electric power equipment is abnormal, determining that the target electric power equipment is abnormal.
Further, when the monitoring information shows that the target power device is not in fault, the method further comprises:
the state information of the target power equipment is obtained again for the location of the target power equipment, and whether the target power equipment is abnormal or not is judged according to the obtained state information;
and if so, determining that the target power equipment is abnormal.
Further, the inspection control method further comprises the following steps:
and if the target power equipment is judged to be normal according to the newly acquired state information, determining that the target power equipment is normal.
Further, when monitoring information shows that target power equipment does not break down, and when judging equipment anomaly after patrolling and examining again, still include:
and sending prompt information to the power equipment on-line monitoring system so that a worker can check whether the loop of the power equipment on-line monitoring system is normal and/or whether the threshold value setting is reasonable according to the prompt information.
Further, the inspection control method further includes:
when the power inspection robot inspects the power equipment and does not reach the place where the target power equipment is located, acquiring obstacle information within a preset range, wherein the obstacle information comprises radar information, ultrasonic information and anti-falling information;
judging whether an obstacle exists according to the radar information, the ultrasonic information and the anti-falling information;
and if so, avoiding the obstacle according to the determined obstacle.
Specifically, the determining whether an obstacle exists according to the radar information, the ultrasonic information and the anti-falling information specifically includes:
judging whether a suspected pit exists in a preset range or not according to the anti-falling information to obtain a first judgment result h 1;
if the first judgment result h1 is yes, acquiring the suspected pit position coordinates;
obtaining a first obstacle coordinate set in a preset range according to the radar information, and judging whether the suspected pit position coordinate is an obstacle or not according to the first obstacle coordinate set to obtain a second judgment result h 2;
obtaining a second obstacle coordinate set within a preset range according to the ultrasonic information, and judging whether the suspected pit position coordinate is an obstacle or not according to the second obstacle coordinate set to obtain a third judgment result h 3;
determining whether an obstacle exists at the coordinates of the suspected pit location according to an obstacle evaluation function G in the following formula (I):
G＝a1h1+a2h2+a3h3 (Ⅰ)
wherein, a1As weighting factor of the fall protection sensor, a2As weighting system for lidar sensors, a3Is a weighting coefficient of the ultrasonic sensor, a1、a2、a3The sum is 1.
The second aspect of the application provides a robot is patrolled and examined to electric power, including the host computer, still including setting up the following device on the host computer:
the temperature detection device is used for detecting a temperature signal of the target power equipment;
sound detection means for detecting a sound frequency signal of the target electric power device;
the image acquisition device is used for detecting a visible light image of the target power equipment;
control means for executing the control method of any one of the above.
Further, the power inspection robot further comprises:
the anti-falling sensor is used for acquiring anti-falling information within a preset range;
the laser radar sensor is used for acquiring radar information within a preset range;
and the ultrasonic sensor is used for acquiring ultrasonic information in a preset range.
The third aspect of the present application provides a system of patrolling and examining based on robot is patrolled and examined to electric power, includes:
the power inspection robot; and
and the power equipment on-line monitoring system is used for carrying out on-line monitoring on the power equipment and transmitting the monitoring information of the target power equipment.
(III) advantageous effects
The technical scheme of the invention has the following beneficial technical effects:
(1) the routing inspection control method provided by the invention carries out comprehensive decision on the equipment state through various sensing information and judges the equipment state by combining the monitoring result of the online monitoring system, thereby greatly reducing the phenomena of misjudgment and missed judgment on the equipment state;
(2) the inspection control method provided by the invention carries out comprehensive decision on the deep pit type obstacles through various sensing information, can improve the accuracy of the obstacle identification, can guide the robot to effectively avoid the obstacles, and can avoid low-efficiency navigation caused by inaccurate judgment on the obstacles;
(3) when a power equipment of a transformer substation fails or the field environment is abnormal, the robot can not accurately judge and plan all dangers on a path only by a single obstacle avoidance strategy in the process of executing a task, such as dangers of fire, heavy smoke, deep pits and the like caused by unpredictable secondary explosion, and the damage of the robot can be possibly caused.
Drawings
FIG. 1 is a flow chart of a patrol inspection control method based on a power patrol inspection robot provided by the invention;
fig. 2 is a flowchart of a method for monitoring the state and diagnosing faults of the power equipment by the power inspection robot according to an embodiment of the present invention;
FIG. 3 is a diagram illustrating a data processing method according to an embodiment of the present invention;
fig. 4 is a schematic diagram of an obstacle avoidance method according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
As shown in fig. 1, the present invention provides a patrol control method based on a power patrol robot, comprising:
step 101: when the power inspection robot inspects the power equipment, acquiring state information of the target power equipment when the power inspection robot reaches the location of the target power equipment, wherein the state information comprises a temperature signal, a sound frequency signal and a visible light image;
step 102: judging whether the target power equipment is abnormal or not according to the temperature signal, the sound frequency signal and the visible light image;
step 103: if yes, acquiring monitoring information of the power equipment on-line monitoring system, and determining that the target power equipment is in fault when the monitoring information shows that the target power equipment is in fault.
Specifically, in the embodiment of the present invention, the target power device may include auxiliary devices such as a power system meter, a switch, and a pressure plate, and may further include working devices such as a transformer and a reactor; the temperature signal can be obtained through temperature monitoring devices such as a thermal imager, the sound frequency signal can be obtained through sound detection devices such as an acoustic array sensor, the visible light image can contain an on-off state image, a pressing plate image, an appearance image, a meter image and the like, and can be obtained through image obtaining equipment such as a visible light camera.
During the operation of the electrical equipment, various sounds and vibrations occur, such as mechanical vibration sounds of equipment such as transformers and reactors, corona discharge sounds and the like, the sounds and the vibrations are a characteristic of representing the operation state of the equipment, and the operation state of the equipment can be further judged by observing the sound level, the change of tone color and the strength of the vibrations by utilizing the difference between the sound and/or the vibration of the equipment in normal operation and abnormal state. The device state is comprehensively decided by combining the temperature, the sound and the appearance state, so that the device fault can be effectively prevented from being missed, and the device fault can be prevented from being misjudged by comparing the monitoring result with the monitoring result of the on-line monitoring system.
Specifically, the determining whether the target electrical device is abnormal according to the temperature signal, the acoustic frequency signal, and the visible light image includes:
judging whether the target power equipment is abnormal or not according to the temperature signal to obtain a first judgment result;
judging whether the target power equipment is abnormal or not according to the sound frequency signal to obtain a second judgment result;
judging whether the target power equipment is abnormal or not according to the visible light image to obtain a third judgment result;
and if one of the first judgment result, the second judgment result and the third judgment result is that the target electric power equipment is abnormal, determining that the target electric power equipment is abnormal.
Specifically, in the embodiment of the present invention, the feature information of the normal device and the abnormal device may be learned and classified based on a machine learning algorithm, so as to determine whether the device is normal by using the feature information, where the feature information includes the temperature signal, the acoustic frequency signal, and the visible light image.
Further, when the monitoring information shows that the target power device is not in fault, the method further comprises:
the state information of the target power equipment is obtained again for the location of the target power equipment, and whether the target power equipment is abnormal or not is judged according to the obtained state information;
and if so, determining that the target power equipment is abnormal.
Whether the equipment is abnormal or not is judged again through routing inspection again, and misjudgment can be further avoided.
Further, the inspection control method further comprises the following steps:
and if the target power equipment is judged to be normal according to the newly acquired state information, determining that the target power equipment is normal.
Further, when monitoring information shows that target power equipment does not break down, and when judging equipment anomaly after patrolling and examining again, still include:
and sending prompt information to the power equipment on-line monitoring system so that a worker can check whether the loop of the power equipment on-line monitoring system is normal and/or whether the threshold value setting is reasonable according to the prompt information.
By sending prompt information to the online monitoring system, the staff can master possible problems of the online monitoring system in time.
When the robot arrives at an inspection task place (where the target power equipment is), the state of a task object (the target power equipment) is identified, and an inspection task is automatically completed, such as a visible light camera acquiring field meter, a switch state and a pressing plate state, a thermal imager acquiring equipment temperature, an acoustic array sensor acquiring equipment abnormal discharge and other acoustic frequency signals, the robot can combine various sensing information of the visible light camera, the thermal imager, the acoustic array sensor and the like, and carry out comprehensive decision according to real-time sensing information transmitted by a comprehensive information model, so that the state monitoring and fault diagnosis of the power equipment are realized.
In an optional embodiment, as shown in fig. 2, a comprehensive decision is made according to real-time sensing information transmitted by the comprehensive information model, so as to implement state monitoring and fault diagnosis of the power equipment, which specifically includes:
firstly, if the robot arrives and carry out the task and patrol and examine the transformer location, multiple sensor will carry out the measurement simultaneously, will measure the outward appearance of transformer and relevant table meter if visible light, and the thermal imaging appearance gathers equipment temperature, and acoustic array sensor gathers sound frequency signals such as equipment abnormal discharge.
And secondly, measuring the temperature of the equipment according to a thermal imager, and preliminarily judging whether the equipment is abnormal or not.
Thirdly, the state of the transformer can be further judged according to pictures shot by a visible light camera, such as a meter and the like.
Fourthly, whether the equipment has abnormal conditions such as local discharge and the like is further judged according to the audio signals collected by the acoustic array sensor.
Fifthly, the judgment results in the second step, the third step and the fourth step are sent to the comprehensive processing model, and when any one result is abnormal, the equipment is judged to be in an abnormal state.
And sixthly, when the result obtained in the fifth step is abnormal, starting a confirmation process, requesting to check the monitoring result of the background online monitoring system (the transformer online monitoring system) and feeding back the monitoring result, and judging that the transformer fails when the monitoring of the online monitoring system is also failed. When the on-line monitoring system monitoring result is normal, will carry out the reexamination to this equipment and patrol and examine, the robot patrols and examines this equipment once more promptly: when the result of the rechecking inspection is still abnormal, the fault of the equipment transformer can be judged, and whether the loop of the online monitoring system is normal or whether the action threshold value is set reasonably can be checked; and when the rechecking result is normal, the equipment is considered to be normal.
Further, the inspection control method further includes:
when the power inspection robot inspects the power equipment and does not reach the place where the target power equipment is located, acquiring obstacle information within a preset range, wherein the obstacle information comprises radar information, ultrasonic information and anti-falling information;
judging whether an obstacle exists according to the radar information, the ultrasonic information and the anti-falling information;
and if so, avoiding the obstacle according to the determined obstacle.
Specifically, the determining whether an obstacle exists according to the radar information, the ultrasonic information and the anti-falling information specifically includes:
judging whether a suspected pit exists in a preset range or not according to the anti-falling information to obtain a first judgment result h 1;
if the first judgment result h1 is yes, acquiring the suspected pit position coordinates;
obtaining a first obstacle coordinate set in a preset range according to the radar information, and judging whether the suspected pit position coordinate is an obstacle or not according to the first obstacle coordinate set to obtain a second judgment result h 2;
obtaining a second obstacle coordinate set within a preset range according to the ultrasonic information, and judging whether the suspected pit position coordinate is an obstacle or not according to the second obstacle coordinate set to obtain a third judgment result h 3;
determining whether an obstacle exists at the coordinates of the suspected pit location according to an obstacle evaluation function G in the following formula (I):
G＝a1h1+a2h2+a3h3 (Ⅰ)
wherein, a1As weighting factor of the fall protection sensor, a2As weighting system for lidar sensors, a3Is a weighting coefficient of the ultrasonic sensor, a1、a2、a3The sum is 1.
In an optional embodiment, specifically, the obstacle information is acquired by using multiple sensors, as shown in fig. 3 and 4, in order to ensure data accuracy, a sensor data processing module of the robot performs feature extraction and fusion on multiple sensor sensing data by using methods such as a multivariate statistical method, sparse representation, deep learning and the like based on a multivariate heterogeneous information fusion method, and specifically includes the following steps one to three:
firstly, data acquisition is carried out on each sensor for multiple times, and accumulated average and denoising processing is carried out on the acquired data.
Secondly, screening the data collected by a plurality of sensors for the same type of information to remove redundant data and retain effective and accurate data.
Thirdly, data conversion is carried out on different types of data collected by a plurality of sensors: for example, a laser radar sensor converts laser radar data into coordinates of all nearest obstacles according to the installation position of the laser radar and the position of the robot; for example, an ultrasonic sensor converts ultrasonic data into coordinates of all nearest obstacles according to an ultrasonic installation position and a robot position; if the anti-falling sensor is adopted, pit information judged according to anti-falling data is set as an obstacle according to the installation position of the anti-falling sensor and the position of the robot, and the coordinate of the obstacle is calculated at the same time.
Fourthly, the sensor sensing data after data conversion is subjected to fusion processing, and the fusion result can be expressed by the following formula:
G＝a1·h1+a2·h2+a3·h3…+an·hn
wherein G is a fusion result of the sensors, namely an evaluation function of the coordinate as the obstacle; is the weighting factor for each sensor;
hnfor each sensor post-processing data, the sensor measures whether an obstacle is present at the coordinate.
Fifthly, the result of the fusion processing is transmitted to a robot control system, and the robot makes a self-adaptive navigation strategy according to the sensor sensing data.
After the robot receives the polling task, the robot senses the dynamic change of the environment and the self state to make self-adaptive adjustment on the initial path planning. In the process of arriving at a task target stop point (a task point, also called a target equipment location), the robot can combine equipment such as a laser radar, an ultrasonic sensor, a falling prevention sensor and the like to acquire surrounding environment information and continuously detect surrounding states, and the real environment information can be accurately reflected in real time by comprehensively considering different sensors with different installation positions, different measurement ranges, different measurement modes and different measurement accuracies on a robot body.
The collected data of various sensors are subjected to data fusion through the sensor data processing module, and particularly when the environment has sudden problems such as obstacles, deep pits and the like, the robot can judge the positions of information such as the obstacles and the like according to the fusion result of the data of various sensors, and an optimal path is re-planned by adopting an A-algorithm, so that the robot can avoid dangers and smoothly reach a task target point, the robot is prevented from being accidentally damaged, and the inspection strategy is improved.
The invention also provides a power inspection robot, which comprises a host and the following devices arranged on the host:
the temperature detection device is used for detecting a temperature signal of the target power equipment;
sound detection means for detecting a sound frequency signal of the target electric power device;
the image acquisition device is used for detecting a visible light image of the target power equipment;
control means for executing the control method of any one of the above.
Further, the power inspection robot further comprises:
the anti-falling sensor is used for acquiring anti-falling information within a preset range;
the laser radar sensor is used for acquiring radar information within a preset range;
and the ultrasonic sensor is used for acquiring ultrasonic information in a preset range.
The embodiment of the robot of the invention corresponds to the embodiment of the control method, and specific description and effects refer to the embodiment of the method, which is not described herein again.
The invention also provides a patrol system based on the power patrol robot, which comprises:
the power inspection robot; and
and the power equipment on-line monitoring system is used for carrying out on-line monitoring on the power equipment and transmitting the monitoring information of the target power equipment.
The embodiment of the inspection system of the invention corresponds to the embodiment of the control method, and specific description and effects refer to the embodiment of the method, which are not repeated herein.
The above embodiments are only for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications and equivalents may be made to the embodiments of the invention without departing from the spirit and scope of the invention, which is to be covered by the claims.
Claims (10)
1. The utility model provides a patrol and examine control method based on electric power patrols and examines robot which characterized in that includes:
when the power inspection robot inspects the power equipment, acquiring state information of the target power equipment when the power inspection robot reaches the location of the target power equipment, wherein the state information comprises a temperature signal, a sound frequency signal and a visible light image;
judging whether the target power equipment is abnormal or not according to the temperature signal, the sound frequency signal and the visible light image;
if yes, acquiring monitoring information of the power equipment on-line monitoring system, and determining that the target power equipment is in fault when the monitoring information shows that the target power equipment is in fault.
2. The inspection control method according to claim 1, wherein the determining whether the target power equipment is abnormal or not according to the temperature signal, the acoustic frequency signal and the visible light image comprises:
judging whether the target power equipment is abnormal or not according to the temperature signal to obtain a first judgment result;
judging whether the target power equipment is abnormal or not according to the sound frequency signal to obtain a second judgment result;
judging whether the target power equipment is abnormal or not according to the visible light image to obtain a third judgment result;
and if one of the first judgment result, the second judgment result and the third judgment result is that the target electric power equipment is abnormal, determining that the target electric power equipment is abnormal.
3. The inspection control method according to claim 1, wherein when the monitoring information shows that the target electrical equipment is not faulty, the inspection control method further comprises:
the state information of the target power equipment is obtained again for the location of the target power equipment, and whether the target power equipment is abnormal or not is judged according to the obtained state information;
and if so, determining that the target power equipment is abnormal.
4. The inspection control method according to claim 3, further comprising:
and if the target power equipment is judged to be normal according to the newly acquired state information, determining that the target power equipment is normal.
5. The inspection control method according to claim 3, wherein when the monitoring information indicates that the target power equipment is not faulty and that the equipment is determined to be abnormal after inspection again, the inspection control method further comprises:
and sending prompt information to the power equipment on-line monitoring system so that a worker can check whether the loop of the power equipment on-line monitoring system is normal and/or whether the threshold value setting is reasonable according to the prompt information.
6. The inspection control method according to claim 1, further comprising:
when the power inspection robot inspects the power equipment and does not reach the location of the target power equipment, acquiring obstacle information within a preset range, wherein the obstacle information comprises radar information, ultrasonic information and anti-falling information;
judging whether an obstacle exists according to the radar information, the ultrasonic information and the anti-falling information;
and if so, avoiding the obstacle according to the determined obstacle.
7. The inspection control method according to claim 6, wherein the judging whether an obstacle exists according to the radar information, the ultrasonic information and the anti-falling information specifically comprises:
judging whether a suspected pit exists in a preset range or not according to the anti-falling information to obtain a first judgment result h 1;
if the first judgment result h1 is yes, acquiring the suspected pit position coordinates;
obtaining a first obstacle coordinate set in a preset range according to the radar information, and judging whether the suspected pit position coordinate is an obstacle or not according to the first obstacle coordinate set to obtain a second judgment result h 2;
obtaining a second obstacle coordinate set within a preset range according to the ultrasonic information, and judging whether the suspected pit position coordinate is an obstacle or not according to the second obstacle coordinate set to obtain a third judgment result h 3;
determining whether an obstacle exists at the coordinates of the suspected pit location according to an obstacle evaluation function G in the following formula (I):
G＝a1h1+a2h2+a3h3 (Ⅰ)
wherein, a1As weighting factor of the fall protection sensor, a2As weighting system for lidar sensors, a3Is a weighting coefficient of the ultrasonic sensor, a1、a2、a3The sum is 1.
8. The utility model provides a robot is patrolled and examined to electric power, includes the host computer, its characterized in that still includes the following device of setting on the host computer:
the temperature detection device is used for detecting a temperature signal of the target power equipment;
sound detection means for detecting a sound frequency signal of the target electric power device;
the image acquisition device is used for detecting a visible light image of the target power equipment;
control apparatus for carrying out the control method of any one of claims 1 to 7.
9. The power inspection robot according to claim 8, further comprising:
the anti-falling sensor is used for acquiring anti-falling information within a preset range;
the laser radar sensor is used for acquiring radar information within a preset range;
and the ultrasonic sensor is used for acquiring ultrasonic information in a preset range.
10. The utility model provides a system of patrolling and examining based on robot is patrolled and examined to electric power which characterized in that includes:
the power inspection robot of claims 8 or 9; and
and the power equipment on-line monitoring system is used for carrying out on-line monitoring on the power equipment and transmitting the monitoring information of the target power equipment.
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